Dynamic Modeling of a Wind-Driven Tumbleweed Rover Including Atmospheric Effects

Hartl, Alexandre E.; Mazzoleni, Andre P.

doi:10.2514/1.45174

Cited by 18 publications

(4 citation statements)

References 7 publications

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“…Model. Studies of tumbleweed rovers have led to the development of detailed, mathematical models of spherical systems free rolling down an incline [60][61][62][63]. These models are capable of representing collisions with rocks and include aerodynamic forces acting on the sphere.…”

Section: Modeling Actuated Rolling Of Cylindrical Trrexmentioning

confidence: 99%

Performance Analysis and Technical Feasibility Assessment of a Transforming Roving-Rolling Explorer Rover for Mars Exploration

Edwin

Denhart

Gemmer

et al. 2014

Journal of Mechanical Design

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This paper explores a two state rover concept called the Transforming Roving-Rolling Explorer (TRREx). The first state allows the rover to travel like a conventional 6-wheeled rover. The second state is a sphere to permit faster descent of steep inclines. Performance of this concept is compared to a traditional rocker-bogie (RB) architecture using hi-fidelity simulations in Webots. Results show that for missions involving very rugged terrain, or a considerable amount of downhill travel, the TRREx outperforms the rocker-bogie. Locomotion of the TRREx system using a continuous shifting of the center of mass through “actuated rolling” is also explored. A dynamics model for a cylindrical representation of the rover is simulated to identify feasible configurations capable of generating and maintaining continuous rolling motion even on sandy terrain. Results show that in sufficiently benign terrain gradual inclines can be traversed with actuated rolling. This model allows for increased exploration of the problem's design space and assists in establishing parameters for an Earth prototype.

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Section: Modeling Actuated Rolling Of Cylindrical Trrexmentioning

confidence: 99%

Performance Analysis and Technical Feasibility Assessment of a Transforming Roving-Rolling Explorer Rover for Mars Exploration

Edwin

Denhart

Gemmer

et al. 2014

Journal of Mechanical Design

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“…The billiard and boundary are simulated using a timedriven procedure, where the system is advanced in time until a collision is detected [22,23]. Between boundary encounters the trajectory equations denoted by equation ( 6) consist of second-order, nonlinear, coupled differential equations which are solved numerically by using a fourth-order Runge-Kutta method.…”

Section: Trajectory Model and The Reinitialization Of The Generalized...mentioning

confidence: 99%

Dynamics of a dissipative, inelastic gravitational billiard

Hartl¹,

Miller²,

Mazzoleni³

2013

Phys. Rev. E

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The seminal physical model for investigating formulations of nonlinear dynamics is the billiard. Gravitational billiards provide an experimentally accessible arena for their investigation. We present a mathematical model that captures the essential dynamics required for describing the motion of a realistic billiard for arbitrary boundaries, where we include rotational effects and additional forms of energy dissipation. Simulations of the model are applied to parabolic, wedge and hyperbolic billiards that are driven sinusoidally. The simulations demonstrate that the parabola has stable, periodic motion, while the wedge and hyperbola (at high driving frequencies) appear chaotic. The hyperbola, at low driving frequencies, behaves similarly to the parabola; i.e., has regular motion. Direct comparisons are made between the model's predictions and previously published experimental data. The representation of the coefficient of restitution employed in the model resulted in good agreement with the experimental data for all boundary shapes investigated. It is shown that the data can be successfully modeled with a simple set of parameters without an assumption of exotic energy dependence.

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“…Алгоритм управления сфе-ророботом подобной конструкции при движении по наклонной плоскости, а также его ди-намическая стабилизация представлены также в работе [41]. Авторы статей [42,43] провели численное моделирование динамики сферического ровера, приводящегося в движение си-лой ветра (в том числе и по неровным поверхностям). В [44] предложена оригинальная кон-струкция смещения центра масс сферического робота, приведены кинематическая модель, результаты численного моделирования и экспериментальных исследований.…”

Section: Introductionunclassified

The dynamic of a spherical robot with an internal omniwheel platform

Karavaev¹,

Kilin²

2015

Nelin. Dinam.

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Dynamic Modeling of a Wind-Driven Tumbleweed Rover Including Atmospheric Effects

Cited by 18 publications

References 7 publications

Performance Analysis and Technical Feasibility Assessment of a Transforming Roving-Rolling Explorer Rover for Mars Exploration

Performance Analysis and Technical Feasibility Assessment of a Transforming Roving-Rolling Explorer Rover for Mars Exploration

Dynamics of a dissipative, inelastic gravitational billiard

The dynamic of a spherical robot with an internal omniwheel platform

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